A Separable Digital Protractor Based on IMU for Angle Measurement

被引：2

作者：

Chen, Yijun ^{[1
]}

Zhang, Guangzhi ^{[1
]}

Guo, Junqi ^{[1
]}

Mehmood, Rashid ^{[1
]}

Liu, Yizhen ^{[1
]}

机构：

[1] Beijing Normal Univ, Sch Informat Sci & Technol, Beijing, Peoples R China

来源：

2016 INTERNATIONAL CONFERENCE ON IDENTIFICATION, INFORMATION AND KNOWLEDGE IN THE INTERNET OF THINGS (IIKI) | 2016年

关键词：

IMU; system intergration; angle measurement; pose estimation; Kalman Filter; simulation;

D O I：

10.1109/IIKI.2016.4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To achieve a digital access to measurement of relative attitude between two separate objects, a separable digital protractor based on IMU is designed. The protractor consists of a pair of arms, with an IMU and a Bluetooth applied on each of them. Data of the two IMUs are transmitted to a processor on one arm and are used for IMU pose estimation. Since the IMU is rigidly tied to the arm, each estimated IMU pose is just that of the attached arm. By comparing the poses of the arms, we can achieve measurement of their relative attitude. Quaternion and Kalman Filter are used for pose representation and estimation respectively. Experiments are conducted on the accuracy and feasibility. Results show the angle measurement error is less than 2 degrees, which is within the tolerance of most applications. With the help of wireless technology, the proposed protractor can bring lots of convenience in angle measurement for separate objects.

引用

页码：227 / 231

页数：5

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